(Getting Started for v4.0)
 
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*Multiple ready-to-use sensorless grasping algorithms capable of handling a variety of object geometries
 
*Multiple ready-to-use sensorless grasping algorithms capable of handling a variety of object geometries
 
*Capable of holding up to 5kg
 
*Capable of holding up to 5kg
*16 independent current-controlled joints (4 fingers x 4 DOF ea.)
+
*16 (4 fingers x 4 DOF ea.) independent joints
*Support for real-time control and online simulation
+
*Each joint gets current command
 +
*Support for real-time control
 
<br>
 
<br>
 
[[Image:AH_4pics.jpg|border|450px]]
 
[[Image:AH_4pics.jpg|border|450px]]
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<br><br>
 
<br><br>
  
==Allegro Hand v4.0==
+
==Allegro Hand User Manual==
 
[[Image:AllegroManualIcon.jpg | link=http://wiki.wonikrobotics.com/AllegroHandWiki/images/a/a7/V4_AllegroHandUsersManual.pdf]]
 
[[Image:AllegroManualIcon.jpg | link=http://wiki.wonikrobotics.com/AllegroHandWiki/images/a/a7/V4_AllegroHandUsersManual.pdf]]
 
[[File:v4_AllegroHandUsersManual_1.1.pdf]]
 
[[File:v4_AllegroHandUsersManual_1.1.pdf]]
 
<br><br>
 
<br><br>
  
==Allegro Hand v4.0 programs==
+
==Allegro Hand Programs==
 
=== Software Git Repository===
 
=== Software Git Repository===
 
'''windows :''' [https://github.com/simlabrobotics/allegro_hand_windows_v4.git windows-project]  <br>
 
'''windows :''' [https://github.com/simlabrobotics/allegro_hand_windows_v4.git windows-project]  <br>
 
'''linux :''' [https://github.com/simlabrobotics/allegro_hand_linux_v4.git linux-project]  <br>
 
'''linux :''' [https://github.com/simlabrobotics/allegro_hand_linux_v4.git linux-project]  <br>
 
'''ROS :''' [https://github.com/simlabrobotics/allegro_hand_ros_v4 ros-kinetic-AllegroHand]  <br>
 
'''ROS :''' [https://github.com/simlabrobotics/allegro_hand_ros_v4 ros-kinetic-AllegroHand]  <br>
 
  
 
==Allegro Hand CAD File==
 
==Allegro Hand CAD File==
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robotics.biz@wonik.com
 
robotics.biz@wonik.com
  
==Getting Started for v4.0==
+
==Getting Started==
 +
[[File:AllegroHand - Troubleshooting & FAQ V1.01.pdf]]
 
*[[Programming Guides v4.0]]   
 
*[[Programming Guides v4.0]]   
 
*[[Mounting Information v4.0]]
 
*[[Mounting Information v4.0]]

Latest revision as of 15:34, 19 December 2023

[edit] Features

Allegro Hand is a low-cost and highly adaptive robotic hand.
With four fingers and sixteen independent current-controlled joints,
it's the perfect platform for grasp and manipulation research.


  • Lightweight and portable anthropomorphic design
  • Low-cost dexterous manipulation with applications in research and industry
  • Multiple ready-to-use sensorless grasping algorithms capable of handling a variety of object geometries
  • Capable of holding up to 5kg
  • 16 (4 fingers x 4 DOF ea.) independent joints
  • Each joint gets current command
  • Support for real-time control


AH 4pics.jpg

[edit] Tech Specs

Number of Fingers
Four (4) fingers, including thumb
Degrees of Freedom
4 fingers x 4 = 16 (Active)
Actuation
Type DC Motor
Gear Ratio 1:369
Max. Torque 0.70 (Nm)
Max. Joint Speed 0.11 (sec/60dgree)
Weight
Finger 0.17 (kg)
Thumb 0.19 (kg)
Total 1.08 (kg)
Joint Resolution
Measurement Potentiometer
Resolution (nominal) 0.002 (deg)
Communication
Type CAN
Frequency 333 (Hz)
Payload
5 (kg)
Power Requirement
12~24V, 120W


HandDimensions 3.0.jpg

[edit] System Requirements

CPU
Intel® Core™2 Duo or higher
RAM
at least 2GB
HDD
at least 2GB
Graphics
OpenGL 3.0 H/W Acceleration enabled
with at least 64Mb of video RAM
OS
MS Windows® XP,
MS Windows® Vista,
MS Windows® 7
MS Windows® 8
Ubuntu 10.04-12.10 (ROS)
Ubuntu 16.04 (ROS)
Additional S/W
MS Visual Studio®
CAN Interface
NI or PEAK CAN
Note: Any CAN interface can be user-configured for use with the Allegro Hand.


[edit] Product

AllegroLogo.jpg

The Allegro Hand comes with a simple software for developing and testing control algorithms for a variety of commercial robots. There are Linux version and Windows version.

[edit] In the Box

  1. Allegro Hand (Left or Right)
  2. Power Supply
  3. Allegro Hand stand
  4. CAN/Power cable (terminated on hand-end only)
  5. Protective Plastic Carrying Case
  6. Spare parts and tools


InTheBox.jpgBox contents.png




[edit] Allegro Hand User Manual

AllegroManualIcon.jpg File:V4 AllegroHandUsersManual 1.1.pdf

[edit] Allegro Hand Programs

[edit] Software Git Repository

windows : windows-project
linux : linux-project
ROS : ros-kinetic-AllegroHand

[edit] Allegro Hand CAD File

Please, email us if you need Allegro Hand CAD STP file.
robotics.biz@wonik.com

[edit] Getting Started

File:AllegroHand - Troubleshooting & FAQ V1.01.pdf

[edit] Purchasing

For a quote or any other inquiry, please contact us!


WONIK ROBOTICS

address 4F, Wonik Bldg., Pangyo-ro 255-20, Bundang-gu, Seongnam-si, Gyunggi-do, 13486, KOREA
phone +82-31-8038-9180
fax +82-31-8038-9190
email robotics.biz@wonik.com




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